JPS6230444B2 - - Google Patents
Info
- Publication number
- JPS6230444B2 JPS6230444B2 JP54162242A JP16224279A JPS6230444B2 JP S6230444 B2 JPS6230444 B2 JP S6230444B2 JP 54162242 A JP54162242 A JP 54162242A JP 16224279 A JP16224279 A JP 16224279A JP S6230444 B2 JPS6230444 B2 JP S6230444B2
- Authority
- JP
- Japan
- Prior art keywords
- detector
- steering
- band
- legs
- induction band
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
- 230000006698 induction Effects 0.000 claims description 27
- 239000002184 metal Substances 0.000 claims description 17
- 238000001514 detection method Methods 0.000 claims description 8
- 230000005284 excitation Effects 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
Description
【発明の詳細な説明】
本発明は走行コースに沿つて敷設した金属誘導
帯を１次コイルと２次コイルをもつたトランス形
式のピツクアツプ装置で検出し、自走車を誘導す
る自動操縦装置に関する。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automatic pilot system that guides a self-propelled vehicle by detecting a metal induction band laid along a running course using a transformer-type pick-up device having a primary coil and a secondary coil. .
従来自動車の自動操縦装置に用いられる誘導帯
はそれ自身に電流が流され、誘導帯の両側に位置
するように自走車に設けられたピツクアツプコイ
ルに誘起される電圧の偏差を検出してサーボモー
タを駆動し、該サーボモータの出力により操向車
輪を操縦していたが、誘導帯に電流を流すための
電源設備が必要であつた。これにに対し励磁用の
１次コイルと誘磁用の２次コイルよりなるピツク
アツプ装置を用い、金属誘導帯に発生する渦電流
による２次コイルの誘導電圧の変化を検知して金
属誘導帯を検出し、自動操縦する場合、誘導帯に
電流を流す必要はないが、前記渦電流による誘導
電圧の変化は微小であるため、自走車が誘導帯上
の位置にある場合と誘導帯から全くずれた位置に
ある場合との判別は非常に困難であつた。 Conventionally, the induction band used in autopilot systems for automobiles has a current flowing through it, and the servo control detects the voltage deviation induced in the pick-up coils installed in the self-propelled vehicle on both sides of the induction band. Although the motor was driven and the steering wheels were operated by the output of the servo motor, power supply equipment was required to pass current through the induction band. To solve this problem, a pick-up device consisting of a primary coil for excitation and a secondary coil for induction is used to detect changes in the induced voltage in the secondary coil due to eddy currents generated in the metal induction band. When detecting and automatically steering, it is not necessary to flow current through the induction band, but since the change in the induced voltage due to the eddy current is minute, there are cases where the self-propelled vehicle is on the induction band and when it is completely removed from the induction band. It was very difficult to distinguish between the case where it was in a collapsed position and the case where it was in a collapsed position.
本発明は金属誘導帯に発生する渦電流による変
化を確実にとらえ、自走車を正確に走行誘導でき
る自動操縦装置を提案するものである。 The present invention proposes an automatic steering system that can reliably detect changes caused by eddy currents generated in a metal induction band and can accurately guide a self-propelled vehicle.
以下本発明の一実施例を図面に基づいて説明す
る。第１図はピツクアツプ装置を示し、ステアリ
ング用検出器１と誘導帯検知用検出器２とからな
つており、いずれの検出器１，２も、一列に並設
された３脚３〜５をもつヨの字状コア６と、中央
脚４に巻回された励磁用の１次コイル７と、左右
脚３，５に巻回された誘磁用の２次コイル８，９
とからなり、床面上に敷設された金属誘導帯１０
に沿つて走行する自走車の正規位置で、前記ステ
アリング用検出器１は、その３脚方向が前記金属
誘導帯１０に直交する方向に配置されて、該金属
誘導帯１０の中央上方位置に位置し、前記誘導帯
検知用検出器２は、その３脚方向が前記金属誘導
帯１０に直交する方向に配置されて、該金属誘導
帯１０の中央上方位置より左右いずれかにわずか
にずれた位置で、例えば第２図によく示されるよ
うに１次コイル７と２次コイル９が金属誘導帯１
０の上方位置に位置するように設置されている。
両検出器１，２の１次コイル７はそれぞれスイツ
チングゲート１１，１２を介して励磁用の発振器
１３に接続され、また検出器１の２次コイル８，
９はそれぞれアンプ１４，１５を介して第１の差
動増幅器１６の２つの入力端子に、検出器２の２
次コイル８，９はそれぞれアンプ１７，１８を介
して第２の差動増幅器１９の２つの入力端子に接
続されている。そして第１の差動増幅器１６の出
力はスイツチングゲート２０を介してステアリン
グ用駆動回路２１を制御し、第２の差動増幅器１
９の出力はタイマ２２およびスイツチングゲート
２３を介して走行用駆動回路２４を制御する。２
５はスイツチング制御回路で、スイツチングゲー
ト１１，２０と１２，２３とを各別にON−OFF
するように制御する。 An embodiment of the present invention will be described below based on the drawings. Figure 1 shows a pick-up device, which consists of a steering detector 1 and a guide band detection detector 2. Both detectors 1 and 2 have three legs 3 to 5 arranged in a row. A Y-shaped core 6, a primary coil 7 for excitation wound around the center leg 4, and secondary coils 8, 9 for induction wound around the left and right legs 3, 5.
and a metal induction band 10 laid on the floor surface.
At the normal position of a self-propelled vehicle running along The guide band detection detector 2 is arranged with its three legs in a direction perpendicular to the metal guide band 10, and is slightly shifted to the left or right from the center upper position of the metal guide band 10. For example, as best shown in FIG.
It is installed at a position above 0.
The primary coils 7 of both detectors 1 and 2 are connected to an excitation oscillator 13 via switching gates 11 and 12, respectively, and the secondary coils 8 and
9 is connected to the two input terminals of the first differential amplifier 16 via amplifiers 14 and 15, respectively, to the two input terminals of the detector 2.
The secondary coils 8 and 9 are connected to two input terminals of a second differential amplifier 19 via amplifiers 17 and 18, respectively. The output of the first differential amplifier 16 controls the steering drive circuit 21 via the switching gate 20, and the output of the first differential amplifier 16 controls the steering drive circuit 21 via the switching gate 20.
The output of 9 controls a running drive circuit 24 via a timer 22 and a switching gate 23. 2
5 is a switching control circuit that turns ON/OFF switching gates 11, 20 and 12, 23 separately.
control to do so.
１次コイル７で発生する磁速により２次コイル
８，９に誘起される誘導電圧は金属誘導帯１０に
発生する渦電流により変化する。いまステアリン
グ用検知器１について考えて見ると、自走車が例
えば走行方行イに対して左側（−ｘ方向）に片寄
つた場合２次コイル８に誘起される誘導電圧は過
電流による影響が少なくなるので２次コイル９に
誘起される誘導電圧よりわずか増大し、第１の差
動増幅器１６は第３図のV1曲線のようにプラス
出力を発生し、ステアリング用駆動回路２１は操
向車輪を右側にきり、逆に自走車が走行方行イに
対して右側（＋ｘ方向）に片寄つた場合は第１の
差動増幅器１６はマイナス出力を発生し、操向車
輪を左側にきる。次に誘導帯検知用検出器２につ
いて考えて見ると、自走車が金属誘導帯１０上方
の正規の位置にある場合、２次コイル９に誘起さ
れる誘導電圧より２次コイル８に誘起される誘導
電圧の方が小さいので第２の差動増幅器１９は第
３図のV2曲線のようにプラス出力を発生し、左
右側いずれかにずれて零になつた時に自走車は金
属誘導帯１０を完全にはずれたことを検知できる
ので、第２の差動増幅器１９の零出力により走行
用駆動回路２４は走行車輪の駆動を停止させる。
また、金属誘導帯１２が走行コース途中で短い距
離切断されていると一時的に第２の差動増幅器１
９の出力は零になるが、タイマ２２はかかる場合
に指示される走行車輪の駆動停止を避けるための
もので、所定遅延時間内で第２の差動増幅器１９
の零出力が解消された時は、自走車は未だ金属誘
導帯１０を完全にはずれていないものと判断でき
るので、前記遅延時間の間は駆動停止を行なわせ
ない。 The induced voltage induced in the secondary coils 8 and 9 by the magnetic velocity generated in the primary coil 7 changes due to the eddy current generated in the metal induction band 10. Now, considering the steering detector 1, if the self-propelled vehicle is biased to the left (-x direction) with respect to the direction of travel A, the induced voltage induced in the secondary coil 8 will be affected by the overcurrent. As the voltage decreases, it slightly increases compared to the induced voltage induced in the secondary coil 9, and the first differential amplifier 16 generates a positive output as shown by the V1 curve in FIG. 3, and the steering drive circuit 21 When the wheels are turned to the right, and conversely, the self-propelled vehicle is shifted to the right (+x direction) with respect to the traveling direction A, the first differential amplifier 16 generates a negative output and turns the steered wheels to the left. . Next, considering the induction band detection detector 2, when the self-propelled vehicle is in the normal position above the metal induction band 10, the induced voltage induced in the secondary coil 8 is caused by the induced voltage induced in the secondary coil 9. Since the induced voltage caused by Since it is possible to detect that the belt 10 has been completely removed, the running drive circuit 24 stops driving the running wheels due to the zero output of the second differential amplifier 19.
Furthermore, if the metal induction band 12 is cut for a short distance during the running course, the second differential amplifier 1
The output of the second differential amplifier 19 becomes zero, but the timer 22 is used to avoid stopping the driving of the running wheels, which is instructed in such a case.
When the zero output is eliminated, it can be determined that the self-propelled vehicle has not completely left the metal guide band 10, so the drive is not stopped during the delay time.
なお誘導帯検知用検出器２の２次コイル８，９
の出力を差動的に処理するのは、差動信号を自走
車の金属誘導帯１０からのはずれに応じて素早く
０に近づけ、完全にはずれたところを迅速に検知
して検知能力を向上させるためである。 In addition, the secondary coils 8 and 9 of the induction band detection detector 2
Processing the output differentially means that the differential signal quickly approaches 0 according to the deviation of the self-propelled vehicle from the metal induction band 10, and quickly detects the point where it has completely deviated, improving detection ability. This is to make it happen.
またスイツチング制御回路２５によりステアリ
ング用検出器１と誘導帯検知用検出器２とが交互
に駆動されるのは、両検出器１，２が近接して配
置される必要からその間の漏洩磁束によつて起る
相互の悪影響を避けるためである。 Furthermore, the reason why the steering detector 1 and the induction band detection detector 2 are driven alternately by the switching control circuit 25 is that both the detectors 1 and 2 need to be placed close to each other, so that leakage magnetic flux between the two detectors 1 and 2 is caused. This is to avoid mutual negative effects that may occur.
なお、本実施例では２次コイル８，９の出力を
差動増幅器により差動的に処理しているが、検出
器１，２を差動トランス形式に構成し、２次コイ
ル８，９の出力を直接加算して差動的に処理して
もよい。 In this embodiment, the outputs of the secondary coils 8 and 9 are differentially processed by a differential amplifier, but the detectors 1 and 2 are configured in a differential transformer type, and the outputs of the secondary coils 8 and 9 are processed differentially by a differential amplifier. The outputs may be added directly and processed differentially.
以上本発明によれば、ピツクアツプ装置は金属
誘導帯に発生する渦電流による誘導電圧の変化を
確実にとらえるので、金属誘導帯を正確に検知で
き、自走車を正確に走行誘導できる利点を有す
る。 As described above, according to the present invention, the pick-up device reliably captures changes in the induced voltage due to eddy currents generated in the metal induction band, so it has the advantage of being able to accurately detect the metal induction band and accurately guiding the self-propelled vehicle. .
図面は本発明の一実施例を示し、第１図は要部
斜視図、第２図は動作ブロツク図、第３図は両検
出器の特性図である。
１……ステアリング用検出器、２……誘導帯検
知用検出器、３〜５……３脚、６……コア、７…
…１次コイル、８，９……２次コイル、１０……
金属誘導帯、１３……発振器、１６，１９……第
１および第２の差動増幅器、２１……ステアリン
グ用駆動回路、２２……タイマ、２４……走行用
駆動回路。
The drawings show one embodiment of the present invention; FIG. 1 is a perspective view of the main part, FIG. 2 is an operational block diagram, and FIG. 3 is a characteristic diagram of both detectors. 1... Steering detector, 2... Guide band detection detector, 3 to 5... Tripod, 6... Core, 7...
...Primary coil, 8, 9...Secondary coil, 10...
Metal induction band, 13... Oscillator, 16, 19... First and second differential amplifier, 21... Steering drive circuit, 22... Timer, 24... Traveling drive circuit.
Claims (1)
アと、中央脚に巻回された励磁用の１次コイル
と、左右脚に巻回された誘磁用の２次コイルとか
らなるステアリング用検出器および誘導帯検知用
検出器を有し、自走車の正規位置で、前記ステア
リング用検出器は、その３脚方向が床面上に敷設
された金属誘導帯に直交する方向に配置されて該
金属誘導帯の中央上方位置に位置し、前記誘導帯
検知用検出器は、その３脚方向が前記金属誘導帯
に直交する方向に配置されて、該金属誘導帯の中
央上方位置から左右いずれかにわずかにずれた位
置に位置し、かつそれぞれの検出器が互いに近接
して配置されたピツクアツプ装置を設け、それぞ
れの検出器の１次コイルに発振器出力を供給する
とともに、前記ステアリング用検出器の２次コイ
ルの差動信号の正負出力によりステアリング用駆
動回路を制御して操向車輪を操作し、前記誘導帯
検知用検出器の２次コイルの差動信号が０になつ
たときに走行車輪を停止するように構成したこと
を特徴とする自走車の自動操縦装置。1 Each steering wheel consists of a core with three legs arranged in a row, a primary excitation coil wound around the center leg, and a secondary induction coil wound around the left and right legs. The steering detector has a detector for detecting a steering wheel and a detector for detecting a guiding band, and at a normal position of the self-propelled vehicle, the steering detector is arranged in a direction in which the direction of its three legs is perpendicular to the metal guiding band laid on the floor surface. The detector for detecting the induction band is arranged with its three legs in a direction perpendicular to the metal induction band, and is located above the center of the metal induction band. A pick-up device is provided in which the respective detectors are located at a position slightly shifted to the left or right and are arranged close to each other, and the pickup device supplies an oscillator output to the primary coil of each detector, and also provides a pickup device for the steering. When the steering drive circuit is controlled by the positive and negative outputs of the differential signals of the secondary coil of the detector to operate the steering wheels, and the differential signal of the secondary coil of the induction band detection detector becomes 0. An autopilot device for a self-propelled vehicle, characterized in that the autopilot device is configured to stop a traveling wheel at a certain time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16224279A JPS5685113A (en) | 1979-12-13 | 1979-12-13 | Automatic driving device for self-running car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16224279A JPS5685113A (en) | 1979-12-13 | 1979-12-13 | Automatic driving device for self-running car |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS5685113A JPS5685113A (en) | 1981-07-11 |
| JPS6230444B2 true JPS6230444B2 (en) | 1987-07-02 |
Family
ID=15750680
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP16224279A Granted JPS5685113A (en) | 1979-12-13 | 1979-12-13 | Automatic driving device for self-running car |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5685113A (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61169910A (en) * | 1985-01-24 | 1986-07-31 | Nec Corp | Detecting method of positional shift |
| JPS62266606A (en) * | 1986-05-14 | 1987-11-19 | Nec Corp | Guide system for unattended carriage |
| CN104326242B (en) * | 2014-09-05 | 2017-02-01 | 昆明七零五所科技发展总公司 | Method and device thereof for controlling running direction of rail guide vehicle |
-
1979
- 1979-12-13 JP JP16224279A patent/JPS5685113A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS5685113A (en) | 1981-07-11 |
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